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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="classFootPlacement-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">FootPlacement Class Reference</div>  </div>
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<p>This class is used to generate swing leg trajectory.  
 <a href="classFootPlacement.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="foot__placement_8h_source.html">foot_placement.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ae2211312c822d1d49d61553fbf692feb"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#ae2211312c822d1d49d61553fbf692feb">Trajectory</a> (double phase, double des1, double des2)</td></tr>
<tr class="memdesc:ae2211312c822d1d49d61553fbf692feb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate the desired swing leg z-position using Besier curve.  <a href="classFootPlacement.html#ae2211312c822d1d49d61553fbf692feb">More...</a><br /></td></tr>
<tr class="separator:ae2211312c822d1d49d61553fbf692feb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a44ed054253f62f43df8b23f60694d600"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#a44ed054253f62f43df8b23f60694d600">getSwingPos</a> ()</td></tr>
<tr class="memdesc:a44ed054253f62f43df8b23f60694d600"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the desired position of the swing foot.  <a href="classFootPlacement.html#a44ed054253f62f43df8b23f60694d600">More...</a><br /></td></tr>
<tr class="separator:a44ed054253f62f43df8b23f60694d600"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abefe39cf532cd6ee56094fd96b9aead1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#abefe39cf532cd6ee56094fd96b9aead1">dataBusRead</a> (<a class="el" href="structDataBus.html">DataBus</a> &amp;robotState)</td></tr>
<tr class="memdesc:abefe39cf532cd6ee56094fd96b9aead1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read data from databus.  <a href="classFootPlacement.html#abefe39cf532cd6ee56094fd96b9aead1">More...</a><br /></td></tr>
<tr class="separator:abefe39cf532cd6ee56094fd96b9aead1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a833b5bb6ef5578bfed4d8d50c9786fa7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#a833b5bb6ef5578bfed4d8d50c9786fa7">dataBusWrite</a> (<a class="el" href="structDataBus.html">DataBus</a> &amp;robotState)</td></tr>
<tr class="memdesc:a833b5bb6ef5578bfed4d8d50c9786fa7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Write swing foot information to databus.  <a href="classFootPlacement.html#a833b5bb6ef5578bfed4d8d50c9786fa7">More...</a><br /></td></tr>
<tr class="separator:a833b5bb6ef5578bfed4d8d50c9786fa7"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:ae58f1f2ea1c2d690d10f4c7b7b0c67d0"><td class="memItemLeft" align="right" valign="top"><a id="ae58f1f2ea1c2d690d10f4c7b7b0c67d0"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#ae58f1f2ea1c2d690d10f4c7b7b0c67d0">kp_vx</a> {0}</td></tr>
<tr class="memdesc:ae58f1f2ea1c2d690d10f4c7b7b0c67d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Catersian swing foot position control gain in x-axis. <br /></td></tr>
<tr class="separator:ae58f1f2ea1c2d690d10f4c7b7b0c67d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9e1f6a5e58ce202d031a17be6652ce20"><td class="memItemLeft" align="right" valign="top"><a id="a9e1f6a5e58ce202d031a17be6652ce20"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#a9e1f6a5e58ce202d031a17be6652ce20">kp_vy</a> {0}</td></tr>
<tr class="memdesc:a9e1f6a5e58ce202d031a17be6652ce20"><td class="mdescLeft">&#160;</td><td class="mdescRight">Catersian swing foot position control gain in y-axis. <br /></td></tr>
<tr class="separator:a9e1f6a5e58ce202d031a17be6652ce20"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad375e1c3c0dfa0c73e13372b092a0738"><td class="memItemLeft" align="right" valign="top"><a id="ad375e1c3c0dfa0c73e13372b092a0738"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#ad375e1c3c0dfa0c73e13372b092a0738">kp_wz</a> {0}</td></tr>
<tr class="memdesc:ad375e1c3c0dfa0c73e13372b092a0738"><td class="mdescLeft">&#160;</td><td class="mdescRight">Catersian swing foot position control gain in z-axis. <br /></td></tr>
<tr class="separator:ad375e1c3c0dfa0c73e13372b092a0738"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5b95a95c66387cf179dc54179d956a0"><td class="memItemLeft" align="right" valign="top"><a id="ab5b95a95c66387cf179dc54179d956a0"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#ab5b95a95c66387cf179dc54179d956a0">legLength</a> {1}</td></tr>
<tr class="memdesc:ab5b95a95c66387cf179dc54179d956a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">length of the leg <br /></td></tr>
<tr class="separator:ab5b95a95c66387cf179dc54179d956a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab42c8e066a9f7d1997ca7780af64c932"><td class="memItemLeft" align="right" valign="top"><a id="ab42c8e066a9f7d1997ca7780af64c932"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#ab42c8e066a9f7d1997ca7780af64c932">stepHeight</a> {0.1}</td></tr>
<tr class="memdesc:ab42c8e066a9f7d1997ca7780af64c932"><td class="mdescLeft">&#160;</td><td class="mdescRight">the maximal height of the foot when walking a step <br /></td></tr>
<tr class="separator:ab42c8e066a9f7d1997ca7780af64c932"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7efde20d6d1358c936a6d97b98993413"><td class="memItemLeft" align="right" valign="top"><a id="a7efde20d6d1358c936a6d97b98993413"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#a7efde20d6d1358c936a6d97b98993413">phi</a> {0}</td></tr>
<tr class="memdesc:a7efde20d6d1358c936a6d97b98993413"><td class="mdescLeft">&#160;</td><td class="mdescRight">phase varialbe for trajectory generation, must between 0 and 1 <br /></td></tr>
<tr class="separator:a7efde20d6d1358c936a6d97b98993413"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3aa4e1578da7623da69007b491e8765b"><td class="memItemLeft" align="right" valign="top"><a id="a3aa4e1578da7623da69007b491e8765b"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#a3aa4e1578da7623da69007b491e8765b">tSwing</a> {0.4}</td></tr>
<tr class="memdesc:a3aa4e1578da7623da69007b491e8765b"><td class="mdescLeft">&#160;</td><td class="mdescRight">swing time <br /></td></tr>
<tr class="separator:a3aa4e1578da7623da69007b491e8765b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a70def6c5b0680f0faf26967b2bc6a6c5"><td class="memItemLeft" align="right" valign="top"><a id="a70def6c5b0680f0faf26967b2bc6a6c5"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>posStart_W</b></td></tr>
<tr class="separator:a70def6c5b0680f0faf26967b2bc6a6c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6d60a94ecdf36e15bcf2965431a3168d"><td class="memItemLeft" align="right" valign="top"><a id="a6d60a94ecdf36e15bcf2965431a3168d"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>posDes_W</b></td></tr>
<tr class="separator:a6d60a94ecdf36e15bcf2965431a3168d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada37cb5fced90493462b17b224cc5252"><td class="memItemLeft" align="right" valign="top"><a id="ada37cb5fced90493462b17b224cc5252"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>hipPos_W</b></td></tr>
<tr class="separator:ada37cb5fced90493462b17b224cc5252"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2cdda47344b6685852f8346ec351f8c1"><td class="memItemLeft" align="right" valign="top"><a id="a2cdda47344b6685852f8346ec351f8c1"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#a2cdda47344b6685852f8346ec351f8c1">STPos_W</a></td></tr>
<tr class="memdesc:a2cdda47344b6685852f8346ec351f8c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">step position in world coordinate <br /></td></tr>
<tr class="separator:a2cdda47344b6685852f8346ec351f8c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8d95921529c504c6571e2d0639e36f36"><td class="memItemLeft" align="right" valign="top"><a id="a8d95921529c504c6571e2d0639e36f36"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>desV_W</b></td></tr>
<tr class="separator:a8d95921529c504c6571e2d0639e36f36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c65ca56953f4f104ff55200656cffee"><td class="memItemLeft" align="right" valign="top"><a id="a2c65ca56953f4f104ff55200656cffee"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#a2c65ca56953f4f104ff55200656cffee">curV_W</a></td></tr>
<tr class="memdesc:a2c65ca56953f4f104ff55200656cffee"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired and current body velocity in world coordinate <br /></td></tr>
<tr class="separator:a2c65ca56953f4f104ff55200656cffee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65426884931e20e457a72ebd2885ca91"><td class="memItemLeft" align="right" valign="top"><a id="a65426884931e20e457a72ebd2885ca91"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#a65426884931e20e457a72ebd2885ca91">desWz_W</a></td></tr>
<tr class="memdesc:a65426884931e20e457a72ebd2885ca91"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired angular velocity projected on z-axis <br /></td></tr>
<tr class="separator:a65426884931e20e457a72ebd2885ca91"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa56a97026449da92c7bb7e65374a26bc"><td class="memItemLeft" align="right" valign="top"><a id="aa56a97026449da92c7bb7e65374a26bc"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#aa56a97026449da92c7bb7e65374a26bc">base_pos</a></td></tr>
<tr class="memdesc:aa56a97026449da92c7bb7e65374a26bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">current position of robot base in world coordinate <br /></td></tr>
<tr class="separator:aa56a97026449da92c7bb7e65374a26bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8bc8c4f7d3ffc58d244cfc3935e31c13"><td class="memItemLeft" align="right" valign="top"><a id="a8bc8c4f7d3ffc58d244cfc3935e31c13"></a>
<a class="el" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">DataBus::LegState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFootPlacement.html#a8bc8c4f7d3ffc58d244cfc3935e31c13">legState</a></td></tr>
<tr class="memdesc:a8bc8c4f7d3ffc58d244cfc3935e31c13"><td class="mdescLeft">&#160;</td><td class="mdescRight">record the leg state, used to make swing motion inward <br /></td></tr>
<tr class="separator:a8bc8c4f7d3ffc58d244cfc3935e31c13"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This class is used to generate swing leg trajectory. </p>

<p class="definition">Definition at line <a class="el" href="foot__placement_8h_source.html#l00018">18</a> of file <a class="el" href="foot__placement_8h_source.html">foot_placement.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="abefe39cf532cd6ee56094fd96b9aead1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abefe39cf532cd6ee56094fd96b9aead1">&#9670;&nbsp;</a></span>dataBusRead()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void FootPlacement::dataBusRead </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structDataBus.html">DataBus</a> &amp;&#160;</td>
          <td class="paramname"><em>robotState</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Read data from databus. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">robotState</td><td></td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="foot__placement_8cpp_source.html#l00011">11</a> of file <a class="el" href="foot__placement_8cpp_source.html">foot_placement.cpp</a>.</p>

<p class="reference">References <a class="el" href="data__bus_8h_source.html#l00102">DataBus::base_omega_W</a>, <a class="el" href="foot__placement_8h_source.html#l00030">base_pos</a>, <a class="el" href="data__bus_8h_source.html#l00066">DataBus::base_pos</a>, <a class="el" href="data__bus_8h_source.html#l00069">DataBus::base_rot</a>, <a class="el" href="foot__placement_8h_source.html#l00028">curV_W</a>, <a class="el" href="foot__placement_8h_source.html#l00029">desWz_W</a>, <a class="el" href="data__bus_8h_source.html#l00051">DataBus::dq</a>, <a class="el" href="data__bus_8h_source.html#l00111">DataBus::js_omega_des</a>, <a class="el" href="data__bus_8h_source.html#l00112">DataBus::js_vel_des</a>, <a class="el" href="foot__placement_8h_source.html#l00059">legState</a>, <a class="el" href="data__bus_8h_source.html#l00172">DataBus::legState</a>, <a class="el" href="foot__placement_8h_source.html#l00025">phi</a>, <a class="el" href="data__bus_8h_source.html#l00159">DataBus::phi</a>, <a class="el" href="data__bus_8h_source.html#l00153">DataBus::posHip_W</a>, <a class="el" href="data__bus_8h_source.html#l00030">DataBus::rpy</a>, <a class="el" href="data__bus_8h_source.html#l00150">DataBus::swingStartPos_W</a>, <a class="el" href="data__bus_8h_source.html#l00156">DataBus::theta0</a>, <a class="el" href="foot__placement_8h_source.html#l00026">tSwing</a>, <a class="el" href="data__bus_8h_source.html#l00158">DataBus::tSwing</a>, and <a class="el" href="data__bus_8h_source.html#l00157">DataBus::width_hips</a>.</p>

</div>
</div>
<a id="a833b5bb6ef5578bfed4d8d50c9786fa7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a833b5bb6ef5578bfed4d8d50c9786fa7">&#9670;&nbsp;</a></span>dataBusWrite()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void FootPlacement::dataBusWrite </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structDataBus.html">DataBus</a> &amp;&#160;</td>
          <td class="paramname"><em>robotState</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Write swing foot information to databus. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">robotState</td><td></td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="foot__placement_8cpp_source.html#l00027">27</a> of file <a class="el" href="foot__placement_8cpp_source.html">foot_placement.cpp</a>.</p>

<p class="reference">References <a class="el" href="data__bus_8h_source.html#l00129">DataBus::base_rpy_des</a>, <a class="el" href="data__bus_8h_source.html#l00135">DataBus::swing_fe_pos_des_W</a>, and <a class="el" href="data__bus_8h_source.html#l00136">DataBus::swing_fe_rpy_des_W</a>.</p>

</div>
</div>
<a id="a44ed054253f62f43df8b23f60694d600"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a44ed054253f62f43df8b23f60694d600">&#9670;&nbsp;</a></span>getSwingPos()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void FootPlacement::getSwingPos </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Calculate the desired position of the swing foot. </p>
<p>The result is stored in variable pDesCur </p>

<p class="definition">Definition at line <a class="el" href="foot__placement_8cpp_source.html#l00031">31</a> of file <a class="el" href="foot__placement_8cpp_source.html">foot_placement.cpp</a>.</p>

<p class="reference">References <a class="el" href="foot__placement_8h_source.html#l00030">base_pos</a>, <a class="el" href="foot__placement_8h_source.html#l00028">curV_W</a>, <a class="el" href="foot__placement_8h_source.html#l00029">desWz_W</a>, <a class="el" href="foot__placement_8h_source.html#l00020">kp_vx</a>, <a class="el" href="foot__placement_8h_source.html#l00021">kp_vy</a>, <a class="el" href="foot__placement_8h_source.html#l00022">kp_wz</a>, <a class="el" href="foot__placement_8h_source.html#l00023">legLength</a>, <a class="el" href="foot__placement_8h_source.html#l00059">legState</a>, <a class="el" href="data__bus_8h_source.html#l00166">DataBus::LSt</a>, <a class="el" href="foot__placement_8h_source.html#l00025">phi</a>, <a class="el" href="foot__placement_8h_source.html#l00024">stepHeight</a>, <a class="el" href="foot__placement_8cpp_source.html#l00066">Trajectory()</a>, and <a class="el" href="foot__placement_8h_source.html#l00026">tSwing</a>.</p>

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<a id="ae2211312c822d1d49d61553fbf692feb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae2211312c822d1d49d61553fbf692feb">&#9670;&nbsp;</a></span>Trajectory()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double FootPlacement::Trajectory </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>phase</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>des1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>des2</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generate the desired swing leg z-position using Besier curve. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">phase</td><td>when phi == phase, the foot is in the highest, should in [0,1] </td></tr>
    <tr><td class="paramname">des1</td><td>the highest height when stepping </td></tr>
    <tr><td class="paramname">des2</td><td>the final height when stepping </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

<p class="definition">Definition at line <a class="el" href="foot__placement_8cpp_source.html#l00066">66</a> of file <a class="el" href="foot__placement_8cpp_source.html">foot_placement.cpp</a>.</p>

<p class="reference">References <a class="el" href="bezier__1D_8cpp_source.html#l00032">Bezier_1D::getOut()</a>, <a class="el" href="bezier__1D_8h_source.html#l00019">Bezier_1D::P</a>, and <a class="el" href="foot__placement_8h_source.html#l00025">phi</a>.</p>

<p class="reference">Referenced by <a class="el" href="foot__placement_8cpp_source.html#l00031">getSwingPos()</a>.</p>

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</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="foot__placement_8h_source.html">foot_placement.h</a></li>
<li><a class="el" href="foot__placement_8cpp_source.html">foot_placement.cpp</a></li>
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